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    Sol10 PDF

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    Michael ARK
    This document is a homework assignment for an EECS course. It includes 8 problems on topics like interpolation, polynomial interpolation and regression, and turning a car via reference tracking. The student must redraw sample signals using different interpolation methods, perform polynomial interpolation on velocity data from a model rocket, derive an equation to control a car's turning based on turn radius and other variables, and redo problems from a past midterm exam.

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    Sol10 PDF

    Uploaded by

    Michael ARK
    211 views4 pages
    This document is a homework assignment for an EECS course. It includes 8 problems on topics like interpolation, polynomial interpolation and regression, and turning a car via reference tracking. The student must redraw sample signals using different interpolation methods, perform polynomial interpolation on velocity data from a model rocket, derive an equation to control a car's turning based on turn radius and other variables, and redo problems from a past midterm exam.

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    This document is a homework assignment for an EECS course. It includes 8 problems on topics like interpolation, polynomial interpolation and regression, and turning a car via reference tracking. The student must redraw sample signals using different interpolation methods, perform polynomial interpolation on velocity data from a model rocket, derive an equation to control a car's turning based on turn radius and other variables, and redo problems from a past midterm exam.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    211 views4 pages

    Sol10 PDF

    Uploaded by

    Michael ARK
    This document is a homework assignment for an EECS course. It includes 8 problems on topics like interpolation, polynomial interpolation and regression, and turning a car via reference tracking. The student must redraw sample signals using different interpolation methods, perform polynomial interpolation on velocity data from a model rocket, derive an equation to control a car's turning based on turn radius and other variables, and redo problems from a past midterm exam.

    Copyright:

    © All Rights Reserved
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    of 4

    EECS 16B Designing Information Devices and Systems II

    Fall 2017 Miki Lustig and Michel Maharbiz Homework 10


    This homework is due November 16, 2017, at noon.
    1. Interpolation
    Samples from the sinusoid f (x) = sin(0.2πx) are shown in Figure 1. Draw the results of interpolation using
    each of the following three methods:

    Figure 1: Samples of f (x).


    .

    (a) Zero order hold interpolation.


    Solution: Figure 2.

    Figure 2: Zero order hold.


    .

    (b) Linear interpolation.


    Solution: Figure 3.

    EECS 16B, Fall 2017, Homework 10 1


    Figure 3: Linear interpolation.
    .
    (c) Sinc interpolation assuming the Nyquist limit has been satisfied.
    Solution: Figure 4.

    Figure 4: Sinc interpolation.


    .

    2. Polynomial interpolation and regression


    Variometers indicate the rate of climb or descent (vertical velocity) in an aerial vehicle. I have a small
    variometer sensor that I would like to use on a quadrotor for altitude control. In order to evaluate the
    sensor’s performance, I launch it on a small model rocket and record its measurements. The recorded values
    are:
    Time (s) Velocity (m/s)
    0 3.75
    0.5 -1.5
    1.5 -8.5

    (a) Perform polynomial inerpolation on these points. Show your work (you can use a computer to do a
    matrix inverse).

    EECS 16B, Fall 2017, Homework 10 2


    Solution: Since there are three points, we can find a unique second-order polynomial that will pass
    through all of the points:     
    1 x1 x12 a0 y1

    1 x x 2  a  = y 
     2 2  1  2
    1 x3 x32 a2 y3
    Plugging in the values from the table, we have:
        
    1 0 0 a0 3.75
    1 0.5 0.25 a1  = −1.5
        
    1 1.5 2.25 a2 −8.5

    We can solve for the coefficients ai by inverting the Vandermonde matrix:


        
    15
    a0 1 0 0
       8  4 
    a1  = − 3 3 − 13   − 32 
    4
    a2 3 −2 23 − 17
    2
       
    15
    a0
       435 
    a1  = − 3 
    a2 7
    3

    The final polynomial is


    7 35 15
    v(t) = t 2 − t +
    3 3 4

    (b) (Optional) The rocket is in freefall, so I expect that it will approximately follow a parabolic trajectory
    (its flight will not be exactly parabolic due to wind resistance). The velocity profile of a parabolic
    trajectory is linear. Perform polynomial regression using a first-order polynomial.
    Solution: The final polynomial is v(t) = −8t + 15 4.

    3. Turning via reference tracking


    We would like the car to turn with a specified radius r and speed v∗ . The controller’s unit for distance is
    encoder ticks, but each tick is approximately 1 cm of wheel circumference. To turn, we want δ to change at
    a particular rate. Without loss of generality, we’ll analyze a right turn, corresponding to increasing δ . For a
    left turn, we simply negate δ . Our goal is to generate a reference from the desired r and v∗ for the controller
    to follow. This reference will be a function of the controller’s time-step. Inspect the following diagram:

    • r - turn radius in cm where 1 cm 1 encoder tick


    • ω - angular velocity
    • θ - angle traveled
    • d - distance traveled by the center of the car in ticks
    • l - distance between the centers of the wheels in cm

    From this geometry, can you write δ [k] in the following form?

    δ [k] = f (r, v∗ , l, k)

    EECS 16B, Fall 2017, Homework 10 3


    Solution: Answer:
    d[k] = v∗ k = ωrk = rθ [k]
    v∗ k
    θ [k] =
    r
    l
    dL [k] = (r + )θ [k]
    2
    l
    dR [k] = (r − )θ [k]
    2
    l l
    δ [k] = dL [k] − dR [k] = (r + − r + )θ [k]
    2 2
    All of which results in:
    v∗ l
    δ [k] = k
    r
    This is the desired δ [k] = f (r, v∗ , l, k) for turning the car.

    4. Redo problem 1 on the midterm

    5. Redo problem 2 on the midterm

    6. Redo problem 3 on the midterm

    7. Redo problem 4 on the midterm

    8. Redo problem 5 on the midterm

    Contributors:

    • John Maidens.

    • Justin Yim.

    • Andrew Blatner.

    EECS 16B, Fall 2017, Homework 10 4

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